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<div class="title">grid_projection.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_IMPL_GRID_PROJECTION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SURFACE_IMPL_GRID_PROJECTION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/grid_projection.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/vector_average.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/Vertices.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">   49</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">pcl::GridProjection&lt;PointNT&gt;::GridProjection</a> () :</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  cell_hash_map_ (), min_p_ (), max_p_ (), leaf_size_ (0.001), gaussian_scale_ (),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  data_size_ (0), max_binary_search_level_ (10), k_ (50), padding_size_ (3), data_ (),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  vector_at_data_point_ (), surface_ (), occupied_cell_list_ ()</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{}</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#acb6b9a0bf64fe78bbd8c8b16b95735fa">   57</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">pcl::GridProjection&lt;PointNT&gt;::GridProjection</a> (<span class="keywordtype">double</span> resolution) :</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  cell_hash_map_ (), min_p_ (), max_p_ (), leaf_size_ (resolution), gaussian_scale_ (),</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  data_size_ (0), max_binary_search_level_ (10), k_ (50), padding_size_ (3), data_ (),</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  vector_at_data_point_ (), surface_ (), occupied_cell_list_ ()</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a64f6ad98a1afff0c76ff557c68ae7b29">   65</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a64f6ad98a1afff0c76ff557c68ae7b29">pcl::GridProjection&lt;PointNT&gt;::~GridProjection</a> ()</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  vector_at_data_point_.clear ();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  surface_.clear ();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  cell_hash_map_.clear ();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  occupied_cell_list_.clear ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  data_.reset ();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a5411849e36c65f0f841290f9aa9fb562">   76</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a5411849e36c65f0f841290f9aa9fb562">pcl::GridProjection&lt;PointNT&gt;::scaleInputDataPoint</a> (<span class="keywordtype">double</span> scale_factor)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; data_-&gt;points.size(); ++i)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    data_-&gt;points[i].x /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (scale_factor);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    data_-&gt;points[i].y /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (scale_factor);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    data_-&gt;points[i].z /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (scale_factor);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  max_p_ /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (scale_factor);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  min_p_ /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (scale_factor);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;}</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a3a200448054e67bd9f6117ebf81a1056">   90</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a3a200448054e67bd9f6117ebf81a1056">pcl::GridProjection&lt;PointNT&gt;::getBoundingBox</a> ()</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;{</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <a class="code" href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a> (*data_, min_p_, max_p_);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  Eigen::Vector4f bounding_box_size = max_p_ - min_p_;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">double</span> scale_factor = (std::max)((std::max)(bounding_box_size.x (),</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                                              bounding_box_size.y ()),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                              bounding_box_size.z ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordflow">if</span> (scale_factor &gt; 1)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    scaleInputDataPoint (scale_factor);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">// Round the max_p_, min_p_ so that they are aligned with the cells vertices</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordtype">int</span> upper_right_index[3];</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordtype">int</span> lower_left_index[3];</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    upper_right_index[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (max_p_(i) / leaf_size_ + 5);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    lower_left_index[i] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (min_p_(i) / leaf_size_ - 5);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    max_p_(i) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (upper_right_index[i] * leaf_size_);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    min_p_(i) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (lower_left_index[i] * leaf_size_);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  bounding_box_size = max_p_ - min_p_;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::GridProjection::getBoundingBox] Size of Bounding Box is [%f, %f, %f]\n&quot;</span>,</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      bounding_box_size.x (), bounding_box_size.y (), bounding_box_size.z ());</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> max_size =</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    (std::max) ((std::max)(bounding_box_size.x (), bounding_box_size.y ()),</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                bounding_box_size.z ());</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  data_size_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (max_size / leaf_size_);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::GridProjection::getBoundingBox] Lower left point is [%f, %f, %f]\n&quot;</span>,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      min_p_.x (), min_p_.y (), min_p_.z ());</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::GridProjection::getBoundingBox] Upper left point is [%f, %f, %f]\n&quot;</span>,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      max_p_.x (), max_p_.y (), max_p_.z ());</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::GridProjection::getBoundingBox] Padding size: %d\n&quot;</span>, padding_size_);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::GridProjection::getBoundingBox] Leaf size: %f\n&quot;</span>, leaf_size_);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  occupied_cell_list_.resize (data_size_ * data_size_ * data_size_);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  gaussian_scale_ = pow ((padding_size_+1) * leaf_size_ / 2.0, 2.0);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a9737031e2e20bafbd0cbf68d56aab6bf">  131</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a9737031e2e20bafbd0cbf68d56aab6bf">pcl::GridProjection&lt;PointNT&gt;::getVertexFromCellCenter</a> (</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">const</span> Eigen::Vector4f &amp;cell_center,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; &amp;pts)<span class="keyword"> const</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  assert (pts.size () == 8);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordtype">float</span> sz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  pts[0] = cell_center + Eigen::Vector4f (-sz,  sz, -sz, 0);</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  pts[1] = cell_center + Eigen::Vector4f (-sz, -sz, -sz, 0);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  pts[2] = cell_center + Eigen::Vector4f (sz,  -sz, -sz, 0);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  pts[3] = cell_center + Eigen::Vector4f (sz,   sz, -sz, 0);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  pts[4] = cell_center + Eigen::Vector4f (-sz,  sz,  sz, 0);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  pts[5] = cell_center + Eigen::Vector4f (-sz, -sz,  sz, 0);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  pts[6] = cell_center + Eigen::Vector4f (sz,  -sz,  sz, 0);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  pts[7] = cell_center + Eigen::Vector4f (sz,   sz,  sz, 0);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a8911f8091c13fced97e02517394cc92b">  151</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a8911f8091c13fced97e02517394cc92b">pcl::GridProjection&lt;PointNT&gt;::getDataPtsUnion</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index,</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                                               std::vector &lt;int&gt; &amp;pt_union_indices)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;{</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = index[0] - padding_size_; i &lt;= index[0] + padding_size_; ++i)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = index[1] - padding_size_; j &lt;= index[1] + padding_size_; ++j)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = index[2] - padding_size_; k &lt;= index[2] + padding_size_; ++k)</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      {</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        Eigen::Vector3i cell_index_3d (i, j, k);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordtype">int</span> cell_index_1d = getIndexIn1D (cell_index_3d);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordflow">if</span> (cell_hash_map_.find (cell_index_1d) != cell_hash_map_.end ())</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="comment">// Get the indices of the input points within the cell(i,j,k), which</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="comment">// is stored in the hash map</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          pt_union_indices.insert (pt_union_indices.end (),</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                                   cell_hash_map_.at (cell_index_1d).data_indices.begin (),</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                                   cell_hash_map_.at (cell_index_1d).data_indices.end ());</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;}</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ac5eb7fadd9ea168c7e7f6b179e9e03f9">  177</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#ac5eb7fadd9ea168c7e7f6b179e9e03f9">pcl::GridProjection&lt;PointNT&gt;::createSurfaceForCell</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index,</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                                                    std::vector &lt;int&gt; &amp;pt_union_indices)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;{</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="comment">// 8 vertices of the cell</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; vertices (8);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="comment">// 4 end points that shared by 3 edges connecting the upper left front points</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  Eigen::Vector4f pts[4];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  Eigen::Vector3f vector_at_pts[4];</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// Given the index of cell, caluate the coordinates of the eight vertices of the cell</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="comment">// index the index of the cell in (x,y,z) 3d format</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  Eigen::Vector4f cell_center = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  getCellCenterFromIndex (index, cell_center);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  getVertexFromCellCenter (cell_center, vertices);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="comment">// Get the indices of the cells which stores the 4 end points.</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  Eigen::Vector3i indices[4];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  indices[0] = Eigen::Vector3i (index[0], index[1], index[2] - 1);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  indices[1] = Eigen::Vector3i (index[0], index[1], index[2]);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  indices[2] = Eigen::Vector3i (index[0], index[1] - 1, index[2]);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  indices[3] = Eigen::Vector3i (index[0] + 1, index[1], index[2]);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="comment">// Get the coordinate of the 4 end points, and the corresponding vectors</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 4; ++i)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    pts[i] = vertices[I_SHIFT_PT[i]];</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index_1d = getIndexIn1D (indices[i]);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordflow">if</span> (cell_hash_map_.find (index_1d) == cell_hash_map_.end () ||</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        occupied_cell_list_[index_1d] == 0)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      vector_at_pts[i] = cell_hash_map_.at (index_1d).vect_at_grid_pt;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="comment">// Go through the 3 edges, test whether they are intersected by the surface</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 3; ++i)</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; end_pts (2);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; vect_at_end_pts (2);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0; j &lt; 2; ++j)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      end_pts[j] = pts[I_SHIFT_EDGE[i][j]];</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      vect_at_end_pts[j] = vector_at_pts[I_SHIFT_EDGE[i][j]];</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">if</span> (isIntersected (end_pts, vect_at_end_pts, pt_union_indices))</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="comment">// Indices of cells that contains points which will be connected to</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="comment">// create a polygon</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      Eigen::Vector3i polygon[4];</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      Eigen::Vector4f polygon_pts[4];</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      <span class="keywordtype">int</span> polygon_indices_1d[4];</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordtype">bool</span> is_all_in_hash_map = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordflow">switch</span> (i)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          polygon[0] = Eigen::Vector3i (index[0] - 1, index[1] + 1, index[2]);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          polygon[1] = Eigen::Vector3i (index[0] - 1, index[1], index[2]);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          polygon[3] = Eigen::Vector3i (index[0], index[1] + 1, index[2]);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          polygon[0] = Eigen::Vector3i (index[0], index[1] + 1, index[2] + 1);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          polygon[1] = Eigen::Vector3i (index[0], index[1] + 1, index[2]);</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;          polygon[3] = Eigen::Vector3i (index[0], index[1], index[2] + 1);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          polygon[0] = Eigen::Vector3i (index[0] - 1, index[1], index[2] + 1);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          polygon[1] = Eigen::Vector3i (index[0] - 1, index[1], index[2]);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          polygon[2] = Eigen::Vector3i (index[0], index[1], index[2]);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          polygon[3] = Eigen::Vector3i (index[0], index[1], index[2] + 1);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; 4; k++)</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        polygon_indices_1d[k] = getIndexIn1D (polygon[k]);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">if</span> (!occupied_cell_list_[polygon_indices_1d[k]])</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          is_all_in_hash_map = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="keywordflow">if</span> (is_all_in_hash_map)</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      {</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> k = 0; k &lt; 4; k++)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          polygon_pts[k] = cell_hash_map_.at (polygon_indices_1d[k]).pt_on_surface;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          surface_.push_back (polygon_pts[k]);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;}</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ae80852b9daa1e3969edbcb55de2f9bfd">  277</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#ae80852b9daa1e3969edbcb55de2f9bfd">pcl::GridProjection&lt;PointNT&gt;::getProjection</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p,</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                                             std::vector &lt;int&gt; &amp;pt_union_indices, Eigen::Vector4f &amp;projection)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;{</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> projection_distance = leaf_size_ * 3;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; end_pt (2);</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; end_pt_vect (2);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  end_pt[0] = p;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  getVectorAtPoint (end_pt[0], pt_union_indices, end_pt_vect[0]);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  end_pt_vect[0].normalize();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="keywordtype">double</span> dSecond = getD2AtPoint (end_pt[0], end_pt_vect[0], pt_union_indices);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="comment">// Find another point which is projection_distance away from the p, do a</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="comment">// binary search between these two points, to find the projected point on the</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="comment">// surface</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordflow">if</span> (dSecond &gt; 0)</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    end_pt[1] = end_pt[0] + Eigen::Vector4f (</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        end_pt_vect[0][0] * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (projection_distance),</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        end_pt_vect[0][1] * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (projection_distance),</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        end_pt_vect[0][2] * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (projection_distance), </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        0.0f);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    end_pt[1] = end_pt[0] - Eigen::Vector4f (</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        end_pt_vect[0][0] * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (projection_distance),</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        end_pt_vect[0][1] * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (projection_distance),</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        end_pt_vect[0][2] * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (projection_distance), </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        0.0f);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  getVectorAtPoint (end_pt[1], pt_union_indices, end_pt_vect[1]);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keywordflow">if</span> (end_pt_vect[1].dot (end_pt_vect[0]) &lt; 0)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    Eigen::Vector4f mid_pt = end_pt[0] + (end_pt[1] - end_pt[0]) * 0.5;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    findIntersection (0, end_pt, end_pt_vect, mid_pt, pt_union_indices, projection);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    projection = p;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;}</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a8fcbd49493eae00ac9b08c3ad9d84470">  316</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a8fcbd49493eae00ac9b08c3ad9d84470">pcl::GridProjection&lt;PointNT&gt;::getProjectionWithPlaneFit</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p,</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;                                                         std::vector&lt;int&gt; (&amp;pt_union_indices),</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;                                                         Eigen::Vector4f &amp;projection)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;{</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="comment">// Compute the plane coefficients</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  Eigen::Vector4f model_coefficients;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  Eigen::Matrix3f covariance_matrix;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (*data_, pt_union_indices, covariance_matrix, xyz_centroid);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="comment">// Get the plane normal</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (covariance_matrix, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="comment">// The normalization is not necessary, since the eigenvectors from libeigen are already normalized</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  model_coefficients[0] = eigen_vector [0];</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  model_coefficients[1] = eigen_vector [1];</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  model_coefficients[2] = eigen_vector [2];</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  model_coefficients[3] = 0;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="comment">// Hessian form (D = nc . p_plane (centroid here) + p)</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  model_coefficients[3] = -1 * model_coefficients.dot (xyz_centroid);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="comment">// Projected point</span></div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  Eigen::Vector3f point (p.x (), p.y (), p.z ());     <span class="comment">//= Eigen::Vector3f::MapAligned (&amp;output.points[cp].x, 3);</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordtype">float</span> distance = point.dot (model_coefficients.head &lt;3&gt; ()) + model_coefficients[3];</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  point -= distance * model_coefficients.head &lt; 3 &gt; ();</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  projection = Eigen::Vector4f (point[0], point[1], point[2], 0);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;}</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00351"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a074763eb0e0911eaad45550917bd8d83">  351</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a074763eb0e0911eaad45550917bd8d83">pcl::GridProjection&lt;PointNT&gt;::getVectorAtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p,</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                                std::vector &lt;int&gt; &amp;pt_union_indices,</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                                Eigen::Vector3f &amp;vo)</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;{</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  std::vector &lt;double&gt; pt_union_dist (pt_union_indices.size ());</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  std::vector &lt;double&gt; pt_union_weight (pt_union_indices.size ());</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  Eigen::Vector3f out_vector (0, 0, 0);</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keywordtype">double</span> sum = 0.0;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="keywordtype">double</span> mag = 0.0;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; pt_union_indices.size (); ++i)</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  {</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    Eigen::Vector4f pp (data_-&gt;points[pt_union_indices[i]].x, data_-&gt;points[pt_union_indices[i]].y, data_-&gt;points[pt_union_indices[i]].z, 0);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    pt_union_dist[i] = (pp - p).squaredNorm ();</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    pt_union_weight[i] = pow (M_E, -pow (pt_union_dist[i], 2.0) / gaussian_scale_);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    mag += pow (M_E, -pow (sqrt (pt_union_dist[i]), 2.0) / gaussian_scale_);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    sum += pt_union_weight[i];</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  }</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <a class="code" href="classpcl_1_1_vector_average.html">pcl::VectorAverage3f</a> vector_average;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  Eigen::Vector3f v (</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      data_-&gt;points[pt_union_indices[0]].normal[0],</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      data_-&gt;points[pt_union_indices[0]].normal[1],</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      data_-&gt;points[pt_union_indices[0]].normal[2]);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; pt_union_weight.size (); ++i)</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    pt_union_weight[i] /= sum;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    Eigen::Vector3f vec (data_-&gt;points[pt_union_indices[i]].normal[0],</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;                  data_-&gt;points[pt_union_indices[i]].normal[1],</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;                  data_-&gt;points[pt_union_indices[i]].normal[2]);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="keywordflow">if</span> (vec.dot (v) &lt; 0)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      vec = -vec;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a> (vec, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pt_union_weight[i]));</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  out_vector = vector_average.<a class="code" href="classpcl_1_1_vector_average.html#af301d1b1c35ce778bdc37f078c8fbe35">getMean</a> ();</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="comment">// vector_average.getEigenVector1(out_vector);</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  out_vector.normalize ();</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="keywordtype">double</span> d1 = getD1AtPoint (p, out_vector, pt_union_indices);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  out_vector *= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sum);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  vo = ((d1 &gt; 0) ? -1 : 1) * out_vector;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;}</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a060f7e37755634942614e7db6a51bc2f">  398</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a060f7e37755634942614e7db6a51bc2f">pcl::GridProjection&lt;PointNT&gt;::getVectorAtPointKNN</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p,</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                                                   std::vector &lt;int&gt; &amp;k_indices,</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;                                                   std::vector &lt;float&gt; &amp;k_squared_distances,</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;                                                   Eigen::Vector3f &amp;vo)</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;{</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  Eigen::Vector3f out_vector (0, 0, 0);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  std::vector &lt;float&gt; k_weight;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  k_weight.resize (k_);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <span class="keywordtype">float</span> sum = 0.0;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; k_; i++)</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="comment">//k_weight[i] = pow (M_E, -pow (k_squared_distances[i], 2.0) / gaussian_scale_);</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    k_weight[i] = std::pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(M_E), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(-pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(k_squared_distances[i]), 2.0f) / gaussian_scale_));</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    sum += k_weight[i];</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  <a class="code" href="classpcl_1_1_vector_average.html">pcl::VectorAverage3f</a> vector_average;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; k_; i++)</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  {</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    k_weight[i] /= sum;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    Eigen::Vector3f vec (data_-&gt;points[k_indices[i]].normal[0],</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;                         data_-&gt;points[k_indices[i]].normal[1],</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;                         data_-&gt;points[k_indices[i]].normal[2]);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a> (vec, k_weight[i]);</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  }</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  vector_average.<a class="code" href="classpcl_1_1_vector_average.html#aa3f5e476a123c3c42b8c982027f161a9">getEigenVector1</a> (out_vector);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  out_vector.normalize ();</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;  <span class="keywordtype">double</span> d1 = getD1AtPoint (p, out_vector, k_indices);</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  out_vector = out_vector * sum;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  vo = ((d1 &gt; 0) ? -1 : 1) * out_vector;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;}</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a0dd2b2c908b476f89d409fdd75eaf651">  432</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a0dd2b2c908b476f89d409fdd75eaf651">pcl::GridProjection&lt;PointNT&gt;::getMagAtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p,</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;                                             <span class="keyword">const</span> std::vector &lt;int&gt; &amp;pt_union_indices)</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;{</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  std::vector &lt;double&gt; pt_union_dist (pt_union_indices.size ());</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  std::vector &lt;double&gt; pt_union_weight (pt_union_indices.size ());</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <span class="keywordtype">double</span> sum = 0.0;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; pt_union_indices.size (); ++i)</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;  {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    Eigen::Vector4f pp (data_-&gt;points[pt_union_indices[i]].x, data_-&gt;points[pt_union_indices[i]].y, data_-&gt;points[pt_union_indices[i]].z, 0);</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    pt_union_dist[i] = (pp - p).norm ();</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    sum += pow (M_E, -pow (pt_union_dist[i], 2.0) / gaussian_scale_);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;  <span class="keywordflow">return</span> (sum);</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;}</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a4088a346e9317fccdf6ab2d0f6f21026">  449</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a4088a346e9317fccdf6ab2d0f6f21026">pcl::GridProjection&lt;PointNT&gt;::getD1AtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, <span class="keyword">const</span> Eigen::Vector3f &amp;vec,</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                                            <span class="keyword">const</span> std::vector &lt;int&gt; &amp;pt_union_indices)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;{</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="keywordtype">double</span> sz = 0.01 * leaf_size_;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  Eigen::Vector3f v = vec * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sz);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keywordtype">double</span> forward  = getMagAtPoint (p + Eigen::Vector4f (v[0], v[1], v[2], 0), pt_union_indices);</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <span class="keywordtype">double</span> backward = getMagAtPoint (p - Eigen::Vector4f (v[0], v[1], v[2], 0), pt_union_indices);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordflow">return</span> ((forward - backward) / (0.02 * leaf_size_));</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;}</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a548e9827c1cb590510e55b6285952ca1">  462</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a548e9827c1cb590510e55b6285952ca1">pcl::GridProjection&lt;PointNT&gt;::getD2AtPoint</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;p, <span class="keyword">const</span> Eigen::Vector3f &amp;vec,</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;                                            <span class="keyword">const</span> std::vector &lt;int&gt; &amp;pt_union_indices)</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;{</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  <span class="keywordtype">double</span> sz = 0.01 * leaf_size_;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  Eigen::Vector3f v = vec * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (sz);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  <span class="keywordtype">double</span> forward = getD1AtPoint (p + Eigen::Vector4f (v[0], v[1], v[2], 0), vec, pt_union_indices);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <span class="keywordtype">double</span> backward = getD1AtPoint (p - Eigen::Vector4f (v[0], v[1], v[2], 0), vec, pt_union_indices);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="keywordflow">return</span> ((forward - backward) / (0.02 * leaf_size_));</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;}</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#ad417229bdf16b68c1ce7830bcbfbf758">  475</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#ad417229bdf16b68c1ce7830bcbfbf758">pcl::GridProjection&lt;PointNT&gt;::isIntersected</a> (<span class="keyword">const</span> std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; &amp;end_pts,</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                                             std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp;vect_at_end_pts,</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                                             std::vector &lt;int&gt; &amp;pt_union_indices)</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;{</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  assert (end_pts.size () == 2);</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  assert (vect_at_end_pts.size () == 2);</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  <span class="keywordtype">double</span> length[2];</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; 2; ++i)</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  {</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    length[i] = vect_at_end_pts[i].norm ();</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;    vect_at_end_pts[i].normalize ();</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  }</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  <span class="keywordtype">double</span> dot_prod = vect_at_end_pts[0].dot (vect_at_end_pts[1]);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;  <span class="keywordflow">if</span> (dot_prod &lt; 0)</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  {</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    <span class="keywordtype">double</span> ratio = length[0] / (length[0] + length[1]);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    Eigen::Vector4f start_pt = </div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;      end_pts[0] + (end_pts[1] - end_pts[0]) * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (ratio);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    Eigen::Vector4f intersection_pt = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    findIntersection (0, end_pts, vect_at_end_pts, start_pt, pt_union_indices, intersection_pt);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160; </div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    Eigen::Vector3f vec;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    getVectorAtPoint (intersection_pt, pt_union_indices, vec);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    vec.normalize ();</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="keywordtype">double</span> d2 = getD2AtPoint (intersection_pt, vec, pt_union_indices);</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    <span class="keywordflow">if</span> (d2 &lt; 0)</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;  }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;}</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00510"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a624615f1f4b63e4c7b9094bdc14a64f4">  510</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a624615f1f4b63e4c7b9094bdc14a64f4">pcl::GridProjection&lt;PointNT&gt;::findIntersection</a> (<span class="keywordtype">int</span> level,</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;                                                <span class="keyword">const</span> std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; &amp;end_pts,</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;                                                <span class="keyword">const</span> std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; &amp;vect_at_end_pts,</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;                                                <span class="keyword">const</span> Eigen::Vector4f &amp;start_pt,</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;                                                std::vector &lt;int&gt; &amp;pt_union_indices,</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;                                                Eigen::Vector4f &amp;intersection)</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;{</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  assert (end_pts.size () == 2);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  assert (vect_at_end_pts.size () == 2);</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160; </div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  Eigen::Vector3f vec;</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  getVectorAtPoint (start_pt, pt_union_indices, vec);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  <span class="keywordtype">double</span> d1 = getD1AtPoint (start_pt, vec, pt_union_indices);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; new_end_pts (2);</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; new_vect_at_end_pts (2);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  <span class="keywordflow">if</span> ((fabs (d1) &lt; 10e-3) || (level == max_binary_search_level_))</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;  {</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    intersection = start_pt;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;  }</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;  {</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;    vec.normalize ();</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;    <span class="keywordflow">if</span> (vec.dot (vect_at_end_pts[0]) &lt; 0)</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;    {</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      Eigen::Vector4f new_start_pt = end_pts[0] + (start_pt - end_pts[0]) * 0.5;</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      new_end_pts[0] = end_pts[0];</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      new_end_pts[1] = start_pt;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      new_vect_at_end_pts[0] = vect_at_end_pts[0];</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      new_vect_at_end_pts[1] = vec;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      findIntersection (level + 1, new_end_pts, new_vect_at_end_pts, new_start_pt, pt_union_indices, intersection);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    }</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    <span class="keywordflow">if</span> (vec.dot (vect_at_end_pts[1]) &lt; 0)</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    {</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      Eigen::Vector4f new_start_pt = start_pt + (end_pts[1] - start_pt) * 0.5;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      new_end_pts[0] = start_pt;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      new_end_pts[1] = end_pts[1];</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      new_vect_at_end_pts[0] = vec;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      new_vect_at_end_pts[1] = vect_at_end_pts[1];</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      findIntersection (level + 1, new_end_pts, new_vect_at_end_pts, new_start_pt, pt_union_indices, intersection);</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;    }</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;    intersection = start_pt;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;  }</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;}</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#addddfa2765e87d007286da283e1bb785">  561</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#addddfa2765e87d007286da283e1bb785">pcl::GridProjection&lt;PointNT&gt;::fillPad</a> (<span class="keyword">const</span> Eigen::Vector3i &amp;index)</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;{</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = index[0] - padding_size_; i &lt; index[0] + padding_size_; ++i)</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = index[1] - padding_size_; j &lt; index[1] + padding_size_; ++j)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = index[2] - padding_size_; k &lt; index[2] + padding_size_; ++k)</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      {</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        Eigen::Vector3i cell_index_3d (i, j, k);</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cell_index_1d = getIndexIn1D (cell_index_3d);</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        <span class="keywordflow">if</span> (cell_hash_map_.find (cell_index_1d) == cell_hash_map_.end ())</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        {</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;          cell_hash_map_[cell_index_1d].data_indices.resize (0);</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;          getCellCenterFromIndex (cell_index_3d, cell_hash_map_[cell_index_1d].pt_on_surface);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;        }</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      }</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;}</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00584"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#aac13ae4b11bb74d2efd2253dcca78862">  584</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#aac13ae4b11bb74d2efd2253dcca78862">pcl::GridProjection&lt;PointNT&gt;::storeVectAndSurfacePoint</a> (<span class="keywordtype">int</span> index_1d,</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                                                        <span class="keyword">const</span> Eigen::Vector3i &amp;,</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                                                        std::vector &lt;int&gt; &amp;pt_union_indices,</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;                                                        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_grid_projection_1_1_leaf.html">Leaf</a> &amp;cell_data)</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;{</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  <span class="comment">// Get point on grid</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  Eigen::Vector4f grid_pt (</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      cell_data.pt_on_surface.x () - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f,</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;      cell_data.pt_on_surface.y () + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f,</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      cell_data.pt_on_surface.z () + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f, 0.0f);</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="comment">// Save the vector and the point on the surface</span></div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  getVectorAtPoint (grid_pt, pt_union_indices, cell_hash_map_[index_1d].vect_at_grid_pt);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  getProjection (cell_data.pt_on_surface, pt_union_indices, cell_hash_map_[index_1d].pt_on_surface);</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;}</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00602"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a18151db726b30e36c9e7cfbb45b4a47f">  602</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a18151db726b30e36c9e7cfbb45b4a47f">pcl::GridProjection&lt;PointNT&gt;::storeVectAndSurfacePointKNN</a> (<span class="keywordtype">int</span> index_1d, <span class="keyword">const</span> Eigen::Vector3i &amp;,</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;                                                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_grid_projection_1_1_leaf.html">Leaf</a> &amp;cell_data)</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;{</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  Eigen::Vector4f cell_center = cell_data.pt_on_surface;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  Eigen::Vector4f grid_pt (</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;      cell_center.x () - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f,</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;      cell_center.y () + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f,</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      cell_center.z () + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (leaf_size_) / 2.0f, 0.0f);</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160; </div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  std::vector &lt;int&gt; k_indices;</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  k_indices.resize (k_);</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  std::vector &lt;float&gt; k_squared_distances;</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  k_squared_distances.resize (k_);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160; </div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;  PointNT pt; pt.x = grid_pt.x (); pt.y = grid_pt.y (); pt.z = grid_pt.z ();</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;  tree_-&gt;nearestKSearch (pt, k_, k_indices, k_squared_distances);</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;  getVectorAtPointKNN (grid_pt, k_indices, k_squared_distances, cell_hash_map_[index_1d].vect_at_grid_pt);</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  getProjectionWithPlaneFit (cell_center, k_indices, cell_hash_map_[index_1d].pt_on_surface);</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;}</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00625"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a0f79063799f9c6f47e8b8c7a61bae696">  625</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a0f79063799f9c6f47e8b8c7a61bae696">pcl::GridProjection&lt;PointNT&gt;::reconstructPolygons</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;{</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;  data_.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> (*input_));</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  getBoundingBox ();</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;  <span class="comment">// Store the point cloud data into the voxel grid, and at the same time</span></div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;  <span class="comment">// create a hash map to store the information for each cell</span></div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;  cell_hash_map_.max_load_factor (2.0);</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  cell_hash_map_.rehash (data_-&gt;points.size () / <span class="keyword">static_cast&lt;</span><span class="keywordtype">long</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (cell_hash_map_.max_load_factor ()));</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160; </div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;  <span class="comment">// Go over all points and insert them into the right leaf</span></div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cp = 0; cp &lt; static_cast&lt;int&gt; (data_-&gt;points.size ()); ++cp)</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  {</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keywordflow">if</span> (!pcl_isfinite (data_-&gt;points[cp].x) ||</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;        !pcl_isfinite (data_-&gt;points[cp].y) ||</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;        !pcl_isfinite (data_-&gt;points[cp].z))</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160; </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    Eigen::Vector3i index_3d;</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    getCellIndex (data_-&gt;points[cp].getVector4fMap (), index_3d);</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    <span class="keywordtype">int</span> index_1d = getIndexIn1D (index_3d);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <span class="keywordflow">if</span> (cell_hash_map_.find (index_1d) == cell_hash_map_.end ())</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    {</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;      <a class="code" href="structpcl_1_1_grid_projection_1_1_leaf.html">Leaf</a> cell_data;</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;      cell_data.data_indices.push_back (cp);</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;      getCellCenterFromIndex (index_3d, cell_data.pt_on_surface);</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      cell_hash_map_[index_1d] = cell_data;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      occupied_cell_list_[index_1d] = 1;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    }</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    {</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;      <a class="code" href="structpcl_1_1_grid_projection_1_1_leaf.html">Leaf</a> cell_data = cell_hash_map_.at (index_1d);</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;      cell_data.data_indices.push_back (cp);</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;      cell_hash_map_[index_1d] = cell_data;</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    }</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  }</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160; </div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  Eigen::Vector3i index;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;  <span class="keywordtype">int</span> numOfFilledPad = 0;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160; </div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; data_size_; ++i)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; data_size_; ++j)</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;    {</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 0; k &lt; data_size_; ++k)</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;      {</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;        index[0] = i;</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;        index[1] = j;</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;        index[2] = k;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;        <span class="keywordflow">if</span> (occupied_cell_list_[getIndexIn1D (index)])</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;        {</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;          fillPad (index);</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;          numOfFilledPad++;</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        }</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;      }</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    }</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;  }</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160; </div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;  <span class="comment">// Update the hashtable and store the vector and point</span></div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  BOOST_FOREACH (<span class="keyword">typename</span> HashMap::value_type entry, cell_hash_map_)</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  {</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    getIndexIn3D (entry.first, index);</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    std::vector &lt;int&gt; pt_union_indices;</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    getDataPtsUnion (index, pt_union_indices);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160; </div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    <span class="comment">// Needs at least 10 points (?)</span></div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    <span class="comment">// NOTE: set as parameter later</span></div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    <span class="keywordflow">if</span> (pt_union_indices.size () &gt; 10)</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    {</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;      storeVectAndSurfacePoint (entry.first, index, pt_union_indices, entry.second);</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      <span class="comment">//storeVectAndSurfacePointKNN(entry.first, index, entry.second);</span></div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;      occupied_cell_list_[entry.first] = 1;</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    }</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  }</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160; </div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <span class="comment">// Go through the hash table another time to extract surface</span></div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  BOOST_FOREACH (<span class="keyword">typename</span> HashMap::value_type entry, cell_hash_map_)</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  {</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    getIndexIn3D (entry.first, index);</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    std::vector &lt;int&gt; pt_union_indices;</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;    getDataPtsUnion (index, pt_union_indices);</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160; </div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    <span class="comment">// Needs at least 10 points (?)</span></div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;    <span class="comment">// NOTE: set as parameter later</span></div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;    <span class="keywordflow">if</span> (pt_union_indices.size () &gt; 10)</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;      createSurfaceForCell (index, pt_union_indices);</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  }</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;  polygons.resize (surface_.size () / 4);</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;  <span class="comment">// Copy the data from surface_ to polygons</span></div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; static_cast&lt;int&gt; (polygons.size ()); ++i)</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;  {</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    <a class="code" href="structpcl_1_1_vertices.html">pcl::Vertices</a> v;</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    v.vertices.resize (4);</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 4; ++j)</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;      v.vertices[j] = i*4+j;</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;     polygons[i] = v;</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  }</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;}</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160; </div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00729"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">  729</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">pcl::GridProjection&lt;PointNT&gt;::performReconstruction</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output)</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;{</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;  <span class="keywordflow">if</span> (!reconstructPolygons (output.polygons))</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160; </div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;  <span class="comment">// The mesh surface is held in surface_. Copy it to the output format</span></div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  output.header = input_-&gt;header;</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160; </div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZ&gt;</a> cloud;</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (surface_.size ());</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160; </div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;  cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (surface_.size ());</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;  <span class="comment">// Copy the data from surface_ to cloud</span></div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;  {</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].x = surface_[i].x ();</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].y = surface_[i].y ();</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i].z = surface_[i].z ();</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  }</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;  pcl::toPCLPointCloud2 (cloud, output.cloud);</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;}</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160; </div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00755"></a><span class="lineno"><a class="line" href="classpcl_1_1_grid_projection.html#a8110323bbd4c3b7af31d308246ebeb1a">  755</a></span>&#160;<a class="code" href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">pcl::GridProjection&lt;PointNT&gt;::performReconstruction</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;points,</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;                                                     std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;{</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="keywordflow">if</span> (!reconstructPolygons (polygons))</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160; </div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  <span class="comment">// The mesh surface is held in surface_. Copy it to the output format</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  points.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  points.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (surface_.size ());</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  points.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  points.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160; </div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  points.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (surface_.size ());</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;  <span class="comment">// Copy the data from surface_ to cloud</span></div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; points.size (); ++i)</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;  {</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;    points[i].x = surface_[i].x ();</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;    points[i].y = surface_[i].y ();</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    points[i].z = surface_[i].z ();</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;  }</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;}</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160; </div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_GridProjection(T) template class PCL_EXPORTS pcl::GridProjection&lt;T&gt;;</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160; </div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SURFACE_IMPL_GRID_PROJECTION_H_</span></div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160; </div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0022be10a74f9928ca95c566a0cb0de5"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0022be10a74f9928ca95c566a0cb0de5">pcl::GridProjection::performReconstruction</a></div><div class="ttdeci">void performReconstruction(pcl::PolygonMesh &amp;output)</div><div class="ttdoc">Create the surface.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:729</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a060f7e37755634942614e7db6a51bc2f"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a060f7e37755634942614e7db6a51bc2f">pcl::GridProjection::getVectorAtPointKNN</a></div><div class="ttdeci">void getVectorAtPointKNN(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;k_indices, std::vector&lt; float &gt; &amp;k_squared_distances, Eigen::Vector3f &amp;vo)</div><div class="ttdoc">Given the location of a point, get it's vector</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:398</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a074763eb0e0911eaad45550917bd8d83"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a074763eb0e0911eaad45550917bd8d83">pcl::GridProjection::getVectorAtPoint</a></div><div class="ttdeci">void getVectorAtPoint(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector3f &amp;vo)</div><div class="ttdoc">Given the location of a point, get it's vector</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:351</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0dd2b2c908b476f89d409fdd75eaf651"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0dd2b2c908b476f89d409fdd75eaf651">pcl::GridProjection::getMagAtPoint</a></div><div class="ttdeci">double getMagAtPoint(const Eigen::Vector4f &amp;p, const std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Get the magnitude of the vector by summing up the distance.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:432</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a0f79063799f9c6f47e8b8c7a61bae696"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a0f79063799f9c6f47e8b8c7a61bae696">pcl::GridProjection::reconstructPolygons</a></div><div class="ttdeci">bool reconstructPolygons(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">The actual surface reconstruction method.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:625</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a18151db726b30e36c9e7cfbb45b4a47f"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a18151db726b30e36c9e7cfbb45b4a47f">pcl::GridProjection::storeVectAndSurfacePointKNN</a></div><div class="ttdeci">void storeVectAndSurfacePointKNN(int index_1d, const Eigen::Vector3i &amp;index_3d, const Leaf &amp;cell_data)</div><div class="ttdoc">Go through all the entries in the hash table and update the cellData. When creating the hash table,...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:602</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a3a200448054e67bd9f6117ebf81a1056"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a3a200448054e67bd9f6117ebf81a1056">pcl::GridProjection::getBoundingBox</a></div><div class="ttdeci">void getBoundingBox()</div><div class="ttdoc">Get the bounding box for the input data points, also calculating the cell size, and the gaussian scal...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:90</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a4088a346e9317fccdf6ab2d0f6f21026"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a4088a346e9317fccdf6ab2d0f6f21026">pcl::GridProjection::getD1AtPoint</a></div><div class="ttdeci">double getD1AtPoint(const Eigen::Vector4f &amp;p, const Eigen::Vector3f &amp;vec, const std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Get the 1st derivative</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:449</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a5411849e36c65f0f841290f9aa9fb562"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a5411849e36c65f0f841290f9aa9fb562">pcl::GridProjection::scaleInputDataPoint</a></div><div class="ttdeci">void scaleInputDataPoint(double scale_factor)</div><div class="ttdoc">When the input data points don't fill into the 1*1*1 box, scale them so that they can be filled in th...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a548e9827c1cb590510e55b6285952ca1"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a548e9827c1cb590510e55b6285952ca1">pcl::GridProjection::getD2AtPoint</a></div><div class="ttdeci">double getD2AtPoint(const Eigen::Vector4f &amp;p, const Eigen::Vector3f &amp;vec, const std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Get the 2nd derivative</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:462</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a624615f1f4b63e4c7b9094bdc14a64f4"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a624615f1f4b63e4c7b9094bdc14a64f4">pcl::GridProjection::findIntersection</a></div><div class="ttdeci">void findIntersection(int level, const std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;end_pts, const std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;vect_at_end_pts, const Eigen::Vector4f &amp;start_pt, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector4f &amp;intersection)</div><div class="ttdoc">Find point where the edge intersects the surface.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:510</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a64f6ad98a1afff0c76ff557c68ae7b29"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a64f6ad98a1afff0c76ff557c68ae7b29">pcl::GridProjection::~GridProjection</a></div><div class="ttdeci">~GridProjection()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a79cb25cd43c17040722912dbffa5ca22"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a79cb25cd43c17040722912dbffa5ca22">pcl::GridProjection::GridProjection</a></div><div class="ttdeci">GridProjection()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a8911f8091c13fced97e02517394cc92b"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a8911f8091c13fced97e02517394cc92b">pcl::GridProjection::getDataPtsUnion</a></div><div class="ttdeci">void getDataPtsUnion(const Eigen::Vector3i &amp;index, std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Obtain the index of a cell and the pad size.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:151</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a8fcbd49493eae00ac9b08c3ad9d84470"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a8fcbd49493eae00ac9b08c3ad9d84470">pcl::GridProjection::getProjectionWithPlaneFit</a></div><div class="ttdeci">void getProjectionWithPlaneFit(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector4f &amp;projection)</div><div class="ttdoc">Given the coordinates of one point, project it onto the surface, return the projected point....</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:316</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_a9737031e2e20bafbd0cbf68d56aab6bf"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#a9737031e2e20bafbd0cbf68d56aab6bf">pcl::GridProjection::getVertexFromCellCenter</a></div><div class="ttdeci">void getVertexFromCellCenter(const Eigen::Vector4f &amp;cell_center, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;pts) const</div><div class="ttdoc">Given cell center, caluate the coordinates of the eight vertices of the cell</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:131</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_aac13ae4b11bb74d2efd2253dcca78862"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#aac13ae4b11bb74d2efd2253dcca78862">pcl::GridProjection::storeVectAndSurfacePoint</a></div><div class="ttdeci">void storeVectAndSurfacePoint(int index_1d, const Eigen::Vector3i &amp;index_3d, std::vector&lt; int &gt; &amp;pt_union_indices, const Leaf &amp;cell_data)</div><div class="ttdoc">Go through all the entries in the hash table and update the cellData.</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:584</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ac5eb7fadd9ea168c7e7f6b179e9e03f9"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ac5eb7fadd9ea168c7e7f6b179e9e03f9">pcl::GridProjection::createSurfaceForCell</a></div><div class="ttdeci">void createSurfaceForCell(const Eigen::Vector3i &amp;index, std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Given the index of a cell, exam it's up, left, front edges, and add the vectices to m_surface list....</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:177</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ad417229bdf16b68c1ce7830bcbfbf758"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ad417229bdf16b68c1ce7830bcbfbf758">pcl::GridProjection::isIntersected</a></div><div class="ttdeci">bool isIntersected(const std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;end_pts, std::vector&lt; Eigen::Vector3f, Eigen::aligned_allocator&lt; Eigen::Vector3f &gt; &gt; &amp;vect_at_end_pts, std::vector&lt; int &gt; &amp;pt_union_indices)</div><div class="ttdoc">Test whether the edge is intersected by the surface by doing the dot product of the vector at two end...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:475</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_addddfa2765e87d007286da283e1bb785"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#addddfa2765e87d007286da283e1bb785">pcl::GridProjection::fillPad</a></div><div class="ttdeci">void fillPad(const Eigen::Vector3i &amp;index)</div><div class="ttdoc">For a given 3d index of a cell, test whether the cells within its padding area exist in the hash tabl...</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:561</div></div>
<div class="ttc" id="aclasspcl_1_1_grid_projection_html_ae80852b9daa1e3969edbcb55de2f9bfd"><div class="ttname"><a href="classpcl_1_1_grid_projection.html#ae80852b9daa1e3969edbcb55de2f9bfd">pcl::GridProjection::getProjection</a></div><div class="ttdeci">void getProjection(const Eigen::Vector4f &amp;p, std::vector&lt; int &gt; &amp;pt_union_indices, Eigen::Vector4f &amp;projection)</div><div class="ttdoc">Given the coordinates of one point, project it onto the surface, return the projected point....</div><div class="ttdef"><b>Definition:</b> grid_projection.hpp:277</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointNT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html"><div class="ttname"><a href="classpcl_1_1_vector_average.html">pcl::VectorAverage</a></div><div class="ttdoc">Calculates the weighted average and the covariance matrix</div><div class="ttdef"><b>Definition:</b> vector_average.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_a4baf3e577114982e97f6f9a41affaa79"><div class="ttname"><a href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">pcl::VectorAverage::add</a></div><div class="ttdeci">void add(const Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;sample, real weight=1.0)</div><div class="ttdef"><b>Definition:</b> vector_average.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_aa3f5e476a123c3c42b8c982027f161a9"><div class="ttname"><a href="classpcl_1_1_vector_average.html#aa3f5e476a123c3c42b8c982027f161a9">pcl::VectorAverage::getEigenVector1</a></div><div class="ttdeci">void getEigenVector1(Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector1) const</div><div class="ttdef"><b>Definition:</b> vector_average.hpp:120</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_af301d1b1c35ce778bdc37f078c8fbe35"><div class="ttname"><a href="classpcl_1_1_vector_average.html#af301d1b1c35ce778bdc37f078c8fbe35">pcl::VectorAverage::getMean</a></div><div class="ttdeci">const Eigen::Matrix&lt; real, dimension, 1 &gt; &amp; getMean() const</div><div class="ttdef"><b>Definition:</b> vector_average.h:69</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga3166f09aafd659f69dc75e63f5e10f81"><div class="ttname"><a href="group__common.html#ga3166f09aafd659f69dc75e63f5e10f81">pcl::getMinMax3D</a></div><div class="ttdeci">void getMinMax3D(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, PointT &amp;min_pt, PointT &amp;max_pt)</div><div class="ttdoc">Get the minimum and maximum values on each of the 3 (x-y-z) dimensions in a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:228</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_grid_projection_1_1_leaf_html"><div class="ttname"><a href="structpcl_1_1_grid_projection_1_1_leaf.html">pcl::GridProjection::Leaf</a></div><div class="ttdoc">Data leaf.</div><div class="ttdef"><b>Definition:</b> grid_projection.h:88</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
<div class="ttc" id="astructpcl_1_1_vertices_html"><div class="ttname"><a href="structpcl_1_1_vertices.html">pcl::Vertices</a></div><div class="ttdoc">Describes a set of vertices in a polygon mesh, by basically storing an array of indices.</div><div class="ttdef"><b>Definition:</b> Vertices.h:15</div></div>
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